VIBRATION SUPPRESSION OF A ROTATING HUB-BEAM SYSTEM WITH A FLEXIBLE SUPPORT USING FRACTIONAL ORDER SLIDING MODE CONTROL

In this paper, a rotating hub-blade system with a flexible support which represents a wide range of industrial applications is considered for modelling and control. The flexible blade is assumed as an Euler-Bernoulli beam. In addition, three piezoelectric layers are mounted on the blade as sensors and actuators to reduce vibrations of the blade attached to the hub. For modelling, the Lagrange's method is utilized to obtain the equations of motion of the system. In order to simultaneously suppress vibrations of the system and track the desired angular position of the hub, designing an appropriate controller is carried out. In this regard, a fractional order sliding mode (FOSM) controller is proposed to fulfil these objectives and then the comparison between FOSM controller and the classical sliding mode controller is presented in order to investigate the effectiveness of the proposed controller. The simulation results indicate the superior performance of the fractional order controller in compare to the integer order sliding.